CN213963625U

CN213963625U - Moving trolley connecting device

Info

Publication number: CN213963625U
Application number: CN202022584299.3U
Authority: CN
Inventors: 沙洪; 张文露; 王琳琳; 王宏; 邓娟
Original assignee: Institute of Biomedical Engineering of CAMS and PUMC
Current assignee: Institute of Biomedical Engineering of CAMS and PUMC
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2021-08-17
Anticipated expiration: 2030-11-10

Abstract

The utility model belongs to the technical field of connecting device, a travelling car connecting device is specifically disclosed for connect a plurality of travelling cars. Each moving trolley is provided with a mechanical arm and a connecting piece. The connecting device of the moving trolley comprises a connecting rod, wherein a plurality of locking mechanisms are arranged on the connecting rod corresponding to a plurality of connecting pieces. When a plurality of mechanical arms need to carry out cooperative operation, each connecting piece is connected to the corresponding locking mechanism, and the relative positions of the mechanical arms are fixed. The connecting piece is provided with a slot and a clamping slot, the locking mechanism comprises an inserted link and a clamping hook, the inserted link is inserted into the slot, and the clamping hook is clamped in the clamping slot to realize the connection of the locking mechanism and the connecting piece. The clamping hook is rotated to enable the clamping hook to be separated from the clamping groove, and then the inserted rod is pulled out from the slot to complete the separation of the connecting piece and the locking mechanism. The connection and the disassembly process are quick and convenient, and the mechanical arm can be moved independently.

Description

Moving trolley connecting device

Technical Field

The utility model relates to a connecting device technical field especially relates to a travelling car connecting device.

Background

With the rapid development of science and technology, surgical robots are more and more widely used. In the robot-assisted surgery, multiple mechanical arms are often required to perform multi-arm cooperative work, and at the moment, the relative positions of the multiple mechanical arms are required to be fixed. At present, in the prior art, a plurality of mechanical arms are arranged on the same mobile trolley to realize the fixation of the relative positions of the mechanical arms. Although this method achieves a multi-arm cooperative effect, the mechanical arm cannot be moved independently, which causes a lot of inconvenience in actual surgical work.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a travelling car connecting device to the arm that solves the multi-arm among the prior art robot in coordination can't carry out the problem of independent movement.

To achieve the purpose, the utility model adopts the following technical proposal:

a moving trolley connecting device is used for connecting a plurality of moving trolleys, each moving trolley is provided with a mechanical arm and a connecting piece, and each connecting piece is provided with a slot and a clamping slot;

the movable trolley connecting device comprises a connecting rod, the connecting rod corresponds to a plurality of the movable trolley is provided with a plurality of locking mechanisms, each locking mechanism comprises an inserting rod and a clamping hook, the inserting rods can be inserted into the corresponding inserting grooves, the clamping hooks are rotationally connected with the connecting rod, the clamping hooks are opposite to the connecting rod, the connecting rod is provided with an opening position and a closing position, when the clamping hooks are located in the closing position, the clamping hooks are clamped with the corresponding clamping grooves, and when the clamping hooks are rotated to the opening position, the clamping hooks are separated from the clamping grooves.

Further, the pothook is U type structure, U type structure includes first portion and two second portions, two the second portion set up respectively in the both ends of first portion, second portion rotate connect in the connecting rod, work as the pothook with during the draw-in groove joint, first portion is located in the draw-in groove.

Further, locking mechanism includes two the pothook, two the pothook rotates relatively connect in the connecting rod, the connecting piece corresponds two the pothook is provided with two the draw-in groove, every the pothook homoenergetic with corresponding the draw-in groove joint.

Furthermore, the locking mechanism further comprises a hook handle, the hook handle is rotatably connected to the connecting rod, the hook is connected to the hook handle, and the hook handle is used for driving the hook to switch between the opening position and the closing position.

Further, the locking mechanism further comprises an elastic piece, the elastic piece is connected between the hook handle and the connecting rod, and the elastic piece is configured to drive the hook handle to drive the hook to move to the closed position.

Furthermore, the locking mechanism further comprises a base, the hook handle is rotatably connected to the base, the base is fixedly connected to the connecting rod, and the hook handle and the base are matched to form a clamping structure.

Furthermore, the surface of the handle of the hook is provided with rough grains.

Further, the inserted link and the connecting rod are of an integrated structure.

Further, the length of the connecting rod is adjustable.

Further, the connecting rod is made of aluminum alloy.

The utility model has the advantages that: the utility model provides a travelling car connecting device for connect a plurality of travelling cars. Each moving trolley is provided with a mechanical arm and a connecting piece. The connecting device of the moving trolley comprises a connecting rod, wherein a plurality of locking mechanisms are arranged on the connecting rod corresponding to a plurality of connecting pieces. When a plurality of mechanical arms need to carry out cooperative operation, each connecting piece is connected to the corresponding locking mechanism, and the relative positions of the mechanical arms are fixed. The connecting piece is provided with a slot and a clamping slot, the locking mechanism comprises an inserted link and a clamping hook, the inserted link is inserted into the slot, and the clamping hook is clamped in the clamping slot to realize the connection of the locking mechanism and the connecting piece. The clamping hook is rotated to enable the clamping hook to be separated from the clamping groove, and then the inserted rod is pulled out from the slot to complete the separation of the connecting piece and the locking mechanism. The connection and the disassembly process are quick and convenient, and the mechanical arm can be moved independently.

Drawings

Fig. 1 is a schematic structural view of a connection device for a mobile cart according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a connection between a locking mechanism and a connecting member according to a first embodiment of the present invention;

fig. 3 is a schematic structural diagram of a hook according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a locking mechanism according to a second embodiment of the present invention.

In the figure:

1. a connecting member; 11. a slot; 12. a card slot;

2. a connecting rod;

3. a locking mechanism; 31. inserting a rod; 32. a hook; 321. a first part; 322. a second section; 33. a hook handle; 34. a spring; 35. a base; 36. a torsion spring.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

As shown in fig. 1 and 2, the present embodiment provides a moving trolley connecting device for connecting a plurality of moving trolleys, each moving trolley is provided with a mechanical arm and a connecting member 1, and the connecting member 1 is provided with a slot 11 and a slot 12. This travelling car connecting device includes connecting rod 2, connecting rod 2 corresponds a plurality of connecting pieces 1 and is provided with a plurality of locking mechanism 3, locking mechanism 3 includes inserted bar 31 and pothook 32, inserted bar 31 can insert and locate corresponding slot 11, pothook 32 rotates and connects in connecting rod 2, pothook 32 has opening position and closed position relative connecting rod 2, when pothook 32 is located closed position, pothook 32 and the draw-in groove 12 joint that corresponds, when pothook 32 is rotated to opening the position by closed position, pothook 32 breaks away from the joint with corresponding draw-in groove 12.

In the prior art, a plurality of mechanical arms are arranged on the same moving trolley to realize the fixation of the relative positions of the mechanical arms, and although the method realizes the multi-arm synergistic effect, the mechanical arms cannot move independently. The utility model discloses set up a plurality of arms respectively on a plurality of dollies to a travelling car connecting device is provided, be used for connecting a plurality of travelling cars. Every travelling car all is provided with connecting piece 1, and travelling car connecting device includes connecting rod 2, and connecting rod 2 corresponds a plurality of connecting pieces 1 and is provided with a plurality of locking mechanism 3. When a plurality of mechanical arms need to perform cooperative operation, each connecting piece 1 is connected to the corresponding locking mechanism 3, and the relative positions of the mechanical arms are fixed at the moment. Specifically, in this embodiment, the moving trolley is provided with two, two moving trolleys are provided with the connecting piece 1, the connecting rod 2 is provided with two locking mechanisms 3 corresponding to the two connecting pieces, and the two locking mechanisms 3 are located at two ends of the connecting rod 2.

The connecting piece 1 is provided with a slot 11 and a slot 12, the locking mechanism 3 comprises an inserting rod 31 and a hook 32, the inserting rod 31 is inserted into the slot 11, and the hook 32 is clamped in the slot 12 to realize the connection of the locking mechanism 3 and the connecting piece 1. The hook 32 is rotated to disengage the hook 32 from the slot 12, and the rod 31 is pulled out of the slot 11 to complete the separation of the connector 1 and the locking mechanism 3. The connection and the disassembly process are quick and convenient, and the mechanical arm can be moved independently. In the present embodiment, the insert rod 31 and the connecting rod 2 are of an integral structure. In addition, in the present embodiment, the material of the connecting rod 2 is aluminum alloy. In addition, in the present embodiment, the length of the link 2 is adjustable, so that the spacing distance between the plurality of robot arms can be adjusted.

Further, as shown in fig. 2, the locking mechanism 3 includes two hooks 32, the two hooks 32 are relatively rotatably connected to the connecting rod 2, two slots 12 are provided on the connecting piece 1 corresponding to the two hooks 32, and each hook 32 can be connected to the corresponding slot 12 in a clamping manner. So set up for locking mechanism 3 is more firm with being connected of connecting piece 1. Specifically, in the present embodiment, the connecting member 1 has a hexagonal prism structure. Of course, in other embodiments, the connector 1 may be of a cylindrical configuration or the like. The two slots 12 are disposed on two opposite sides of the hexagonal prism structure, and the slot 11 is disposed on a side of the hexagonal prism structure between the two slots 12. In addition, in the present embodiment, two slots 11 are provided, and two slots 11 are provided on two opposite sides of the hexagonal prism structure. In addition, as shown in fig. 3, in the present embodiment, the hook 32 is a U-shaped structure, the U-shaped structure includes a first portion 321 and two second portions 322, the two second portions 322 are respectively disposed at two ends of the first portion 321, the second portions 322 are rotatably connected to the connecting rod 2, and when the hook 32 is connected to the slot 12, the first portion 321 is located in the slot 12.

Further, as shown in fig. 2, the locking mechanism 3 further includes a hook handle 33, the hook handle 33 is rotatably connected to the link 2, the hook 32 is connected to the hook handle 33, and the hook handle 33 is used for driving the hook 32 to switch between the open position and the closed position. With such an arrangement, the worker can rotate the hook 32 by rotating the hook handle 33, so that the hook 32 is switched between the open position and the closed position, and the operation is convenient. In particular, in the present embodiment, the latch mechanism 3 comprises two catch handles 33. The two hooks 32 are connected to two hook handles 33, respectively. In this embodiment, the second portion 322 is inserted into the hook handle 33. In addition, in the embodiment, the hook handle 33 has rough lines on the surface, so that the worker can hold the hook handle 33 and rotate the hook handle.

Further, the locking mechanism 3 further includes an elastic member, the elastic member is connected between the hook handle 33 and the connecting rod 2, and the elastic member can drive the hook handle 33 to drive the hook 32 to move to the closed position. When the hook 32 is located at the closed position, the elastic member can make the hook 32 and the slot 12 clamped more firmly and reliably. Specifically, as shown in fig. 2, in the present embodiment, the elastic member is a spring 34, and the spring 34 is connected between the hook handle 33 and the link 2. When the hook 32 is located at the closed position, the worker rotates the hook handle 33 to drive the hook 32 to move to the open position, the spring 34 deforms, at the moment, the worker releases the hook handle 33, the spring 34 rebounds, and the spring 34 can drive the hook 32 to the closed position.

Further, as shown in fig. 2, the locking mechanism 3 further includes a base 35, the hook handle 33 is rotatably connected to the base 35, the base 35 is fixedly connected to the connecting rod 2, and the hook handle 33 and the base 35 cooperate to form a clip-type structure. When the hook 32 is in the closed position, the worker presses the hook handle 33, and the hook handle 33 can drive the hook 32 to rotate to the open position. Specifically, in the present embodiment, the locking mechanism 3 includes two bases 35, the two bases 35 are oppositely disposed on two sides of the connecting rod 2, and the two hook handles 33 are respectively rotatably connected to the two bases 35. Further, in the present embodiment, the base 35 and the link 2 are connected by a bolt. In other embodiments, the base 35 may be welded to the link 2, or the base 35 may be integrally formed with the link 2. In addition, in the present embodiment, the spring 34 is supported between the hook handle 33 and the base 35. When the hook 32 is located at the closed position, a worker presses the hook handle 33 downwards to drive the hook 32 to move to the open position, the spring 34 is compressed, at the moment, the worker releases the hook handle 33, the spring 34 rebounds, and the spring 34 can drive the hook 32 to the closed position.

Example two

The mobile trolley connecting device provided by the embodiment is basically the same as the mobile trolley connecting device in the first embodiment, and the main difference of the mobile trolley connecting device from the mobile trolley connecting device in the first embodiment is as follows: the elastic element is a torque spring 36, and the torque spring 36 is connected between the hook handle 33 and the connecting rod 2. When the hook 32 is located at the closed position, the worker rotates the hook handle 33 to drive the hook 32 to move to the open position, the spring 34 deforms, at the moment, the worker releases the hook handle 33, the spring 34 rebounds, and the spring 34 can drive the hook 32 to the closed position. Specifically, as shown in fig. 4, in the present embodiment, the torsion spring 36 is supported between the hook handle 33 and the base 35. In addition, in the embodiment, two torque springs 36 are provided, and the two torque springs 36 are respectively sleeved at one end of the two second portions 322 inserted into the hook handle 33.

The rest of the structure of the mobile cart connecting device provided in this embodiment is the same as that of the mobile cart connecting device in the first embodiment, and is not described herein again.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a travelling car connecting device which characterized in that: the device is used for connecting a plurality of moving trolleys, each moving trolley is provided with a mechanical arm and a connecting piece (1), and each connecting piece (1) is provided with a slot (11) and a clamping slot (12);

travelling car connecting device includes connecting rod (2), connecting rod (2) correspond a plurality of the travelling car is provided with a plurality of locking mechanism (3), locking mechanism (3) are including inserted bar (31) and pothook (32), inserted bar (31) can insert and locate corresponding slot (11), pothook (32) rotate connect in connecting rod (2), pothook (32) are relative connecting rod (2) have open position and closed position, work as pothook (32) are located when closed position, pothook (32) with correspond draw-in groove (12) joint works as pothook (32) by closed position to when opening the position and rotating, pothook (32) with correspond draw-in groove (12) break away from the joint.

2. The mobile cart attachment apparatus of claim 1, wherein: pothook (32) are U type structure, U type structure includes first portion (321) and two second portion (322), two second portion (322) set up respectively in the both ends of first portion (321), second portion (322) rotate connect in connecting rod (2), work as pothook (32) with during draw-in groove (12) joint, first portion (321) are located in draw-in groove (12).

3. The mobile cart attachment apparatus of claim 1, wherein: locking mechanism (3) include two pothook (32), two pothook (32) relative rotation connect in connecting rod (2), connecting piece (1) corresponds two pothook (32) is provided with two draw-in groove (12), every pothook (32) homoenergetic with correspond draw-in groove (12) joint.

4. The mobile cart attachment apparatus of claim 1, wherein: the locking mechanism (3) further comprises a hook handle (33), the hook handle (33) is rotatably connected to the connecting rod (2), the hook (32) is connected to the hook handle (33), and the hook handle (33) is used for driving the hook (32) to be switched between the opening position and the closing position.

5. The mobile cart attachment apparatus of claim 4, wherein: the locking mechanism (3) further comprises an elastic piece, the elastic piece is connected between the hook handle (33) and the connecting rod (2), and the elastic piece is configured to drive the hook handle (33) to drive the hook (32) to move to the closed position.

6. The mobile cart attachment apparatus of claim 4, wherein: locking mechanism (3) still include base (35), pothook handle (33) rotate connect in base (35), base (35) rigid coupling in connecting rod (2), pothook handle (33) with base (35) cooperation forms and presss from both sides formula structure.

7. The mobile cart attachment apparatus of claim 4, wherein: the surface of the hook handle (33) is provided with rough grains.

8. The mobile cart attachment apparatus of claim 1, wherein: the inserted bar (31) and the connecting rod (2) are of an integral structure.

9. The mobile cart attachment apparatus of claim 1, wherein: the length of the connecting rod (2) is adjustable.

10. The mobile cart attachment apparatus of claim 1, wherein: the connecting rod (2) is made of aluminum alloy.